/*
 * Copyright (c) 2011-2025, The DART development contributors
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#ifndef DART_UTILS_SDFPARSER_HPP_
#define DART_UTILS_SDFPARSER_HPP_

#include <dart/utils/Export.hpp>

#include <dart/simulation/World.hpp>

#include <dart/dynamics/Skeleton.hpp>

#include <dart/common/Deprecated.hpp>
#include <dart/common/ResourceRetriever.hpp>

namespace dart {
namespace utils {

namespace SdfParser {

/// Root joint type to be used when the parent joint of the root link is not
/// specified in the URDF file.
enum class RootJointType
{
  /// Floating joint type of URDF.
  Floating = 0,

  /// Fixed joint type of URDF.
  Fixed = 1,
};

struct DART_UTILS_API Options
{
  /// Resource retriever. LocalResourceRetriever is used if it's nullptr.
  common::ResourceRetrieverPtr mResourceRetriever;

  /// Default root joint type to be used when the parent joint of the root
  /// link is not specified in the URDF file.
  RootJointType mDefaultRootJointType;

  /// Default constructor
  Options(
      common::ResourceRetrieverPtr resourceRetriever = nullptr,
      RootJointType defaultRootJointType = RootJointType::Floating);
};

simulation::WorldPtr DART_UTILS_API
readWorld(const common::Uri& uri, const Options& options = Options());

DART_DEPRECATED(6.12)
simulation::WorldPtr DART_UTILS_API readWorld(
    const common::Uri& uri, const common::ResourceRetrieverPtr& retriever);

dynamics::SkeletonPtr DART_UTILS_API
readSkeleton(const common::Uri& uri, const Options& options = Options());

DART_DEPRECATED(6.12)
dynamics::SkeletonPtr DART_UTILS_API readSkeleton(
    const common::Uri& uri, const common::ResourceRetrieverPtr& retrievers);

} // namespace SdfParser

} // namespace utils
} // namespace dart

#endif // #ifndef DART_UTILS_SDFPARSER_HPP_
